Siemens SINUMERIK 840D sl Function Manual page 709

Value range
With RPY angles, programmed values can only be unambiguously calculated back within the
following value ranges:
-180
-90
-180
Programming of the complete frame
When programming the complete frame, all rotation components of the frame are always
written. Non-programmed components are implicitly assigned the value 0°.
Syntax
<Frame> = CROT([<1st GAx>,<angle>,][<2nd GAx>,<angle>,][<3rd
GAx>,<angle>])
ROT [<1st GAx><angle>] [<2nd GAx><angle>] [<3rd GAx><angle>]
AROT [<1st GAx><angle>] [<2nd GAx><angle>] [<3rd GAx><angle>]
Meaning
CROT:
<Frame>:
ROT:
AROT:
<nth GAx>:
<angle>:
Programming a frame component
When programming a frame component, only the programmed component of the frame is
written. The components that are not programmed remain unchanged.
Syntax
<frame>[<index>,<GAx>,RT] = <angle>
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
<= x <= 180
< y < 90
<= z <= 180
Absolute rotation,
reference frame: Arbitrary programmed frame
Arbitrary active or data management frame
Absolute rotation,
reference frame: Programmable frame $P_PFRAME,
reference point: Zero point of the current workpiece coordinate sys‐
tem set with G54 ... G57, G505 ... G599
Additive rotation,
reference frame: Programmable frame $P_PFRAME,
reference point: Zero point of the current workpiece coordinate sys‐
tem set with G54 ... G57, G505 ... G599
Name of the nth geometry axis around which rotation is to be per‐
formed with the specified angle. The value 0° is implicitly set as angle
of rotation for a geometry axis that has not been programmed.
Assignment of geometry axis to rotary axis:
1st geometry axis
2nd geometry axis
3rd geometry axis
Angle specification in degrees.
K2: Axis Types, Coordinate Systems, Frames
Geometry axis
10.5 Frames
Rotary axis
x''
y'
z
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